DIAGNOSIS This model uses a HE (High-Efficiency) low-water wash system. The most common cause of soapy residue is simply using too much detergent, or the wrong kind (not HE).
FIX Cut your detergent amount by at least half. For a normal load, you should only use about 1-2 tablespoons of HE liquid detergent. Also, make sure you're using HE detergent—it's formulated to sud less. Run an empty clean washer cycle with hot water and a cup of white vinegar to clear any built-up suds from the drum and lines.
IF THAT DIDN'T WORK The water inlet valves might be partially clogged with mineral deposits, restricting flow during the rinse. You can try descaling the valves by disconnecting the inlet hoses and flushing them with vinegar, but valve replacement might be needed.
HEADS UP That "deep water wash" option isn't for every load. It uses a lot more water. For standard loads, trust the auto-sensing. Overusing it defeats the efficiency of the machine.